为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重...为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重心控制算法分析,解析各关节的转动角度,经由无线Wi Fi模块向仿人机器人发送指令以控制舵机的运动,最终实现对机器人的控制,搭建了基于Kinect传感器的测试平台。测试结果表明:仿人机器人上肢在运动范围内无死角,通过对重心的控制,下肢可实现简单的步行,符合预期效果。展开更多
A space design for the molecule of hydrocarbon based on the traditional group division method is developed, and a group vector space method (GVSM) for estimating critical property of hydrocarbon is proposed by using t...A space design for the molecule of hydrocarbon based on the traditional group division method is developed, and a group vector space method (GVSM) for estimating critical property of hydrocarbon is proposed by using the module index of the group vector to characterize the group position in the molecule. Expressions for estimating critical properties T_c,p_c and V_c of hydrocarbons are proposed, with the numerical values of relative group parameters presented. The average percentage deviations of T_c,p_c and V_c estimation are 0.62, 2.3 and 1.6 respectively.展开更多
文摘为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重心控制算法分析,解析各关节的转动角度,经由无线Wi Fi模块向仿人机器人发送指令以控制舵机的运动,最终实现对机器人的控制,搭建了基于Kinect传感器的测试平台。测试结果表明:仿人机器人上肢在运动范围内无死角,通过对重心的控制,下肢可实现简单的步行,符合预期效果。
文摘A space design for the molecule of hydrocarbon based on the traditional group division method is developed, and a group vector space method (GVSM) for estimating critical property of hydrocarbon is proposed by using the module index of the group vector to characterize the group position in the molecule. Expressions for estimating critical properties T_c,p_c and V_c of hydrocarbons are proposed, with the numerical values of relative group parameters presented. The average percentage deviations of T_c,p_c and V_c estimation are 0.62, 2.3 and 1.6 respectively.
